CN106596557A - Three-dimensional scanning mobile type platform carrying Kinect and method thereof - Google Patents

Three-dimensional scanning mobile type platform carrying Kinect and method thereof Download PDF

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Publication number
CN106596557A
CN106596557A CN201610972754.2A CN201610972754A CN106596557A CN 106596557 A CN106596557 A CN 106596557A CN 201610972754 A CN201610972754 A CN 201610972754A CN 106596557 A CN106596557 A CN 106596557A
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CN
China
Prior art keywords
kinect
platform
scanning
scanning mobile
fixed mount
Prior art date
Application number
CN201610972754.2A
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Chinese (zh)
Inventor
徐照
李苏豪
翟清昊
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东南大学
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Application filed by 东南大学 filed Critical 东南大学
Priority to CN201610972754.2A priority Critical patent/CN106596557A/en
Publication of CN106596557A publication Critical patent/CN106596557A/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using infra-red, visible or ultra-violet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination

Abstract

The invention discloses a three-dimensional scanning mobile type platform carrying Kinet and a method thereof. The three-dimensional scanning mobile type platform carrying Kinet comprises a display, Kinect equipment, a host computer, a GPS, a laser range finder, a fixing frame and the like; Kinect is fixed at one end of the fixing frame extending from the platform; and the fixing end is attached with a rotary supporting seat, and thus a lens of the Kinect can be regulated to align to a direction. The method can solve the problems of large workload, long consuming time, liability in causing safety hidden dangers, large subjectivity and the like of the traditional artificial flaw detection method. The three-dimensional scanning mobile type platform carrying Kinet is simple in structure, low in production cost, strong in movability and wider in application range and can be easily popularized and used for the aspects of building indoor environment three-dimensional scanning, pavement surface flaw detection and the like.

Description

A kind of 3-D scanning mobile platform and its method of carrying Kinect

Technical field

The invention belongs to Building Indoor Environment 3-D scanning and road surface appearance are visited and damage technical field, and in particular to one kind is carried The 3-D scanning mobile platform of Kinect and its method.

Background technology

The damage detecting method of traditional building (highway) outer surface generally comprises artificial and semi-automatic two methods. In manual method, trained technical staff is estimated by measuring to injured surface situation to injury severity, So as to pass judgment on the order of severity damaged.Manual method workload is big and time-consuming longer, while easily causing at work Potential safety hazard.In addition, manual method subjectivity is larger, and the result for damaging grading varies with each individual, evaluate produce it is larger inclined Difference.

3-D scanning is to integrate light, mechanical, electrical and computer technology new and high technology, is mainly used in outside to object space Shape and structure and color are scanned, to obtain the space coordinates of body surface.Kinect device is the computer that Microsoft releases Body-sensing scan-type peripheral hardware, the equipment can be with the indoor object dimensional information scanning of the quick cheap mode of realization.The current equipment is Jing achieves great success in field of play, but the equipment visits damage application seldom and lacks supporting carrying on building surface Hardware platform.In addition, the equipment there are problems that following in the promotion and application of field of civil engineering：

(1) power supply is unique, and the equipment devises special 12V input voltages and Interface Shape connects for the USB of particular design Mouthful, general USB power supply interfaces output voltage is 5V and cannot drive the equipment, needs the proprietary power supply changeover device that Microsoft provides to incite somebody to action 220V voltage conversions could drive, and needing to connect 220V power supplys all the time as a portable scanning means normally to transport OK, the use range of equipment is limited, concentration is used indoors.

(2) portability is poor, and the design using method of existing equipment is placed on before such as television set of fixed position, it is impossible to frequently

It is mobile.Therefore Kinect device only has a pedestal, extends it without portable loading device and uses model Enclose.

(3) scanning distance is short, and in the case where enough accuracy is ensured, current Kinect optimal scanning distance is about 4- 5m, it is not expansible because scanning by the parameter of machine itself away from being limited.

Kinect sensor obtains experimental situation or the main process of object depth information：Launched by RF transmitter Go out infrared ray, infrared ray can produce radium-shine speckle after the target occlusion in testee or environment.Radium-shine speckle reflection is red Outer video camera reads, and obtains the depth information of object or environment.The decoding and computing of depth information is by Israel The PS1080 chips of PrimeSense companies production are completed.The depth data of acquisition, can be indirectly through the process of PCL algorithms Generate three dimensional point cloud.

There are some Hardware platform designs for carrying Kinect in existing patent.

For example, Chinese patent, Kinect Portable field acquisition hardware platform (application numbers：201420425850.1), institute A kind of Kinect device of the Wearable stated solves the problems, such as Kinect device applied power source, improves the open country of Kinect device Outer practicality, by the use of optical filter, expands the scope of application of Kinect；This technical scheme is made by optical filter With can make the 3-D scanning of Kinect is not affected by outdoor illumination condition, and so as to substantially increase field 3-D scanning is carried out Accommodation.But the utility model patent is not provided with the structural representation of whole Wearable, and if by phase Close data acquisition equipment to be carried by Wearable, on the one hand higher requirement, the opposing party are proposed to the heat dispersion of instrument Face is due to the continuous motion of human body, it is difficult to the data to gathering out are accurately positioned, can cause that data noise is excessive to ask Topic, so as to lose the validity of data.

The content of the invention

Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention to provide a kind of three-dimensional of carrying Kinect Scanning mobile platform and its method, solve Traditional Man visit that damage method workload is big, time-consuming, easily cause potential safety hazard, The problems such as subjectivity is big.

Technical scheme：For achieving the above object, the technical solution used in the present invention is：

A kind of 3-D scanning mobile platform of carrying Kinect, including the information being connected being arranged in bearing platform Collecting device and Kinect device, described information collecting device is computer equipment；

Fixed mount is fixed with the bearing platform, the fixed mount end extends to bearing platform outside, used as fixation End connects the Kinect device by rotary module, and the rotary module is rotary support, around fixed mount end rotation Gyration.

Further, one end of the rotary module connects the fixed mount end by clamp module, and around its turn Dynamic, angular range is [- 90 °, 90 °], and pinching screw and binding nut are provided with the clamp module for controlling and fixing The anglec of rotation of rotary module；

The other end of the rotary module is connected with the Kinect device；

The fixed mount, rotary module and clamp module constitute the hold-down support of Kinect device.

Further, the supporting leg of the platform skeleton of the bearing platform is made up of two sections, and upper semisection is inserted in lower semisection In and slide up and down along lower semisection flexible；Height adjuster is provided with the upper end position of lower semisection supporting leg, is that a height is adjusted Knob, adjusts the height of the bearing platform；The height adjustment knob is elastic by the combination of control upper semisection and lower semisection Degree and indirectly control the size of stiction between lower semisection, complete the fixation and adjustment of the height of platform skeleton.

Further, laser range finder is provided with the fixed mount, at the 10cm of fixed mount top.

Further, GPS is provided with the fixed mount, position is in fixed mount and the junction of bearing platform.

Further, the Kinect device is connected with portable power source, and the portable power source is arranged on the bearing and puts down On the base plate of platform.

Further, described information collecting device is the computer equipment of the windows systems for supporting more than win8.1, is wrapped Containing desktop computer and notebook computer, panel computer, described information collecting device is powered by portable power source, the portable power source Connect the Kinect device simultaneously for its power supply；The interface of described information collecting device is the interface of USB3.0.

Further, the portable power source is specially 12V portable power sources, using 12V portable power sources and the input power of 12V Line is replacing the electric pressure converter of original 220V.

Further, the base plate lower section of the bearing platform is connected with roller.

A kind of method of the 3-D scanning mobile platform of carrying Kinect, comprises the following steps：

1) it is aligned：Bearing platform is moved at surface damage, rotary module is adjusted and is caused Kinect device alignment lenses Surface damage；

2) gather：Start the 3-D scanning and Data Acquisition Program of information collecting device, collection obtains Kinect device and sweeps The three-dimensional feature data of the object for describing；

3) process：The object three-dimensional feature data are carried out using the ArcGIS softwares in described information collecting device Three-dimensional reconstruction and Extraction of Geometrical Features, and show the 3-D graphic consistent with object construction；

4) judge：By software damage is graded automatically according to Extraction of Geometrical Features result.

Beneficial effect：At present the country lacks effective packaged type Kinect carrying platforms, the carrying that the present invention is provided The 3-D scanning mobile platform of Kinect, has the beneficial effect that：

1st, from terms of technical standpoint, mobility of the present invention is strong and range of application is wider, coordinates portable power source to relieve Restrictions of the Kinect to fixed power source, easily can be scanned to the target of indoor and outdoors, while rotary module ensures Kinect disclosure satisfy that particular requirement of the sweep object to scanning angle.

2nd, economically, present configuration is simple, low production cost, can easily promote the use of；With it is traditional Building surface (road surface) nondestructive examination tool price is compared, and cost is only the 1/100 of like product.And the device is used simply, Greatly reduce the workload of technical staff, reduce the various errors that subjective factor is brought.

3rd, from orientation angle, the present invention can be damaged accurately by GPS and laser range finder to building surface (road surface) Positioned, the combination for GIS and BIM systems provides coordinate foundation.

Description of the drawings

Fig. 1 is the structural representation of the present invention.

Fig. 2 is that the present invention damages scanning process schematic diagram to outer surface of building.

Fig. 3 is that the present invention damages scanning process schematic diagram to road surface.

Fig. 4 is the initial point cloud schematic diagram data obtained by Kinect device 5.

Fig. 5 is three-dimensional reconstruction effect diagram.

1. display in figure, 2.GPS, 3. fixed mount, 4. rotary module, 5.Kinect equipment, 6. laser range finder, 7. high Adjusting knob is spent, 8. portable power source, 9. main frame, 10. roller, 11. metal partion (metp)s, 12. platform skeletons, 13. key mouse equipment.

Specific embodiment

The present invention is further described below in conjunction with the accompanying drawings.

The present invention is a kind of 3-D scanning mobile platform device of carrying Kinect.The platform comprising display, Kinect device, main frame, GPS, laser range finder and fixed mount etc..Kinect is fixed on fixed mount one end that platform stretches out, Gu The subsidiary rotary support in fixed end, can adjust the alignment lenses direction of Kinect.The invention can solve Traditional Man and visit damage method work Work amount is big, time-consuming, easily cause potential safety hazard, the problems such as subjectivity is big.Present configuration is simple, low production cost, removable Dynamic property is strong, range of application is wider, can easily promote the use of to be visited in Building Indoor Environment 3-D scanning and road surface appearance and damage Etc. aspect.

Embodiment 1

A kind of 3-D scanning mobile platform of carrying Kinect is illustrated in figure 1, information collecting device adopts desktop computer, Including main frame 9 and display 1, wherein, display 1 is connected with main frame 9, and main frame 9 is connected with portable power source 8, the He of Kinect device 5 Portable power source 8 is connected, and Kinect device 5 is connected with main frame 9, and key mouse equipment 13 is connected with main frame 9.

Portable power source 8 is connected with the one end of Kinect device 5, and the one end of key mouse equipment 13 is connected with main frame 9；Under bearing platform 11 points by horizontally disposed metal partion (metp) of Fang Pingtai skeletons 12 are upper and lower two parts, and main frame 9 is arranged and bottom, and display 1 is located at The upper plane of bearing platform.Desktop computer can be replaced with portable notebook computer and panel computer.

The setting height(from bottom) of height adjustment knob 7 is that at the about 5cm of the upper end of platform skeleton 12, rotation height adjusts button 7 and leads to Cross control upper and lower supporting leg slide it is elastic come lifting platform skeleton 12 height so as to indirectly lift Kinect device 5 apart from ground Height, with meet differing heights damage scan require.It is to facilitate the scanning platform indoors or road surface that roller 10 is arranged It is upper mobile faster.Laser range finder 6 is connected with fixed mount 3, for measuring height of the Kinect device 5 apart from ground, from And height coordinate is obtained, facilitate the data processing in later stage.GPS2 act as the coordinate position of orientated damage.

The present invention operation principle be：Scanning platform is moved at surface damage, rotary module 4 is adjusted and is set Kinect Standby 5 alignment lenses surface damages, open portable power source 8 and main frame 9, start 3-D scanning and Data Acquisition Program obtains Kinect The data that equipment 5 is scanned, and by the three-dimensional feature data of collection object and main frame 9 is reached, show in display 1, profit With the ArcGIS softwares in main frame 9 to object three-dimensional feature data to carrying out three-dimensional reconstruction and Extraction of Geometrical Features, and show Go out the 3-D graphic consistent with object construction, by software damage is graded automatically according to Extraction of Geometrical Features result.

Embodiment 2

According to the method for embodiment 1, implementing in legend, to obtain containing relative program in main frame 9 and process shown in Fig. 2 The cloud data (experiment to building) that Kinect device 5 is gathered.

Embodiment 3

According to the method for embodiment 1, implementing in legend, to obtain containing relative program in main frame 9 and process shown in Fig. 3 The cloud data (experiment to ground) that Kinect device 5 is gathered.

In example 2, the initial cloud data for being obtained by Kinect device 5 is as shown in figure 4, using in main frame 9 ArcGIS softwares, to carrying out three-dimensional reconstruction and Extraction of Geometrical Features, and show and object structure to object three-dimensional feature data Consistent 3-D graphic is made, in order to preferably show the effect of the three-dimensional reconstruction of damage, figure will be damaged and inverted, concrete three Dimension is rebuild design sketch and refers to Fig. 5.Building (ground) table can in real time be obtained to provide a kind of more flexible mode by the present invention The three-dimensional information of surface damage, so as to largely reduce the workload of data acquisition.

The above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should It is considered as protection scope of the present invention.

Claims (10)

1. a kind of 3-D scanning mobile platform of carrying Kinect, it is characterised in that：Including the phase being arranged in bearing platform The information collecting device and Kinect device (5) of connection, described information collecting device is computer equipment；
Fixed mount (3) is fixed with the bearing platform, fixed mount (3) end extends to bearing platform outside, used as solid Fixed end connects the Kinect device (5) by rotary module (4), and the rotary module (4) is rotary support, around described solid Determine frame (3) the end anglec of rotation.
2. the 3-D scanning mobile platform of carrying Kinect according to claim 1, it is characterised in that：The rotating mould One end of block (4) connects the fixed mount (3) end by clamp module, and rotates about it, angular range for [- 90 °, 90 °], pinching screw and binding nut are provided with the clamp module for controlling and fixing the anglec of rotation of rotary module (4) Degree；
The other end of the rotary module (4) is connected with the Kinect device (5)；
The fixed mount (3), rotary module (4) and clamp module constitute the hold-down support of Kinect device (5).
3. the 3-D scanning mobile platform of carrying Kinect according to claim 1, it is characterised in that：The bearing is put down The supporting leg of the platform skeleton (12) of platform is made up of two sections, and upper semisection is inserted in lower semisection and slides up and down along lower semisection to be stretched Contracting；Height adjuster is provided with the upper end position of lower semisection supporting leg, is a height adjustment knob (7), adjusted the bearing and put down The height of platform；The height adjustment knob (7) is indirectly controlled by controlling the combination tightness of upper semisection and lower semisection The size of stiction between upper lower semisection, completes the fixation and adjustment of the height of platform skeleton (12).
4. the 3-D scanning mobile platform of carrying Kinect according to claim 1, it is characterised in that：The fixed mount (3) laser range finder (6) is provided with, at fixed mount (3) top 10cm.
5. the 3-D scanning mobile platform of carrying Kinect according to claim 1, it is characterised in that：The fixed mount (3) GPS (2) is provided with, position is in fixed mount (3) and the junction of bearing platform.
6. the 3-D scanning mobile platform of carrying Kinect according to claim 1, it is characterised in that：The Kinect Equipment (5) is connected with portable power source (8), and the portable power source (8) is arranged on the base plate of the bearing platform.
7. the 3-D scanning mobile platform of carrying Kinect according to claim 1, it is characterised in that：Described information is received Collection equipment is the computer equipment of the windows systems for supporting more than win8.1, comprising desktop computer and notebook computer, flat board electricity Brain, described information collecting device is powered by portable power source (8), and the portable power source (8) sets while connecting the Kinect Standby (5) are its power supply；The interface of described information collecting device is the interface of USB3.0.
8. the 3-D scanning mobile platform of carrying Kinect according to claim 7, it is characterised in that：The mobile electricity Source (8) is specially 12V portable power sources, and the voltage of original 220V is replaced using the input power cord of 12V portable power sources and 12V Converter.
9. the 3-D scanning mobile platform of carrying Kinect according to claim 1, it is characterised in that：The bearing is put down The base plate lower section of platform is connected with roller (10).
10. a kind of method of the 3-D scanning mobile platform of carrying Kinect, it is characterised in that：Comprise the following steps：
1) it is aligned：Bearing platform is moved at surface damage, rotary module (4) is adjusted and is caused Kinect device (5) camera lens pair Quasi- surface damage；
2) gather：Start the 3-D scanning and Data Acquisition Program of information collecting device, collection obtains Kinect device (5) scanning The three-dimensional feature data of the object for going out；
3) process：Three-dimensional is carried out to the object three-dimensional feature data using the ArcGIS softwares in described information collecting device Rebuild and Extraction of Geometrical Features, and show the 3-D graphic consistent with object construction；
4) judge：By software damage is graded automatically according to Extraction of Geometrical Features result.
CN201610972754.2A 2016-11-07 2016-11-07 Three-dimensional scanning mobile type platform carrying Kinect and method thereof CN106596557A (en)

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